/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __ROBOT_GAIT_H
#define __ROBOT_GAIT_H

#include "main.h"
#include "joint_math.h"

// 提前声明联合体
union _point_t;
typedef struct{
	uint8_t en;
	float time;
	
	union _point_t point;
}gait_walk_t;

void robot_gait_init(void);
void robot_gait_plann(void);
void robot_gait_joint_deal(void);

extern union _point_t set_point;
#endif /* __ROBOT_GAIT_H */

/******************* (H) COPYRIGHT 2025 FUYEBING*****END OF FILE************/

